JP2020001151A - Single axis manipulator - Google Patents

Abstract

To provide a single-axis servo-gib manipulator based on fog computing.SOLUTION: The single axis manipulator includes a support column. A swing space is provided in the support column, a ring groove communicating with an external space is arranged at a right end wall of the swing space and a swing mechanism is arranged in the swing space. A rotary block is fixedly connected to a right end face of the support column, a whirling space whose right end wall communicates with the external space is provided in the rotary block, and a whirling block is fixedly connected to a right end of a whirling column. A rotary column is rotationally connected to a shaft body of a first connection shaft, a driving block is arranged at the right side of the rotary column, a rotational groove is arranged on a left end face of the driving block, and a driving space is provided in the driving block. The device, which is simply structured and operated conveniently, can achieve whirl at 360 degrees and gripping of an object at poly-angles during actuation, and can grip an object larger than a certain range under mechanical power transmission of a moving mechanism and increase practicality of the device.SELECTED DRAWING: Figure 1

Description

The present invention relates to the field of machining, and in particular, to a single-axis servo jib manipulator based on fog computing.

At present, with the progress of society and the development of science and technology, mechanical means have been used instead of manual labor, in which manipulators are used instead of dangerous or difficult to operate manually. However, in the current stairs, most of the manipulators can perform only one-sided movement, and there is a large restriction on the range of motion, and the range of objects grasped by a certain manipulator is narrow, which is disadvantageous for the progress of work. is there.

Chinese Patent Application No. 104070520

  An object of the present invention is to provide a single-axis servo jib manipulator based on fog computing and solve the above technical problems.

To achieve the above object, the present invention provides the following technical plan: a single-axis servo jib manipulator based on fog computing, includes a support column, a swing space is installed on the support column, and a swing space of the swing space is provided. A ring groove communicating with the external space is installed on the right end wall, a swing mechanism is installed in the swing space, a rotating block is fixedly connected to a right end surface of the support column, and a right end wall is installed in the rotating block. A turning space communicating with the external space is installed, a turning electric machine is fixedly connected to the left end wall of the turning space, a turning shaft is connected to the right end face of the turning electric machine by power, and a turning column is provided at the right end of the turning shaft. The right end of the turning column penetrates the right end wall of the turning space and is in the outside space, and the upper and lower end walls of the turning space are symmetrically provided with slide grooves communicating with the outside space. A turning block is fixedly connected to the right end of the turning column, a turning groove is provided on the right end face of the turning block, and front and rear end walls of the turning groove communicate with the external space, and a turning groove is formed in the turning groove. One connecting shaft is installed, upper and lower ends of the first connecting shaft are fixedly connected to upper and lower end walls of the turning groove, respectively, and a rotating column is connected to the shaft of the first connecting shaft by rotation, and the rotating column is The right end penetrates the turning groove and is in the external space, a translation groove is symmetrically installed on the upper and lower end surfaces of the right end of the rotary column, and an end wall of the translation groove far from the center of the rotary column communicates with the external space, A translation block is slid and connected into the translation groove, and a right end of the swing mechanism is fixedly connected to the translation block through an end wall of the translation groove that is separated from the center of the rotating column, and a left end face of the turning block. The turning lever is vertically symmetrical and fixedly connected A spring groove is provided on an end face of the rotation lever which is close to the rotation block, a spring block is fixedly connected to an end wall of the spring groove which is remote from the rotation block, and slide levers are symmetrically provided on left and right end faces of the spring block. An end of the slide lever remote from the spring block is fixedly connected to an end wall of the spring groove, and a slide block is slid and connected to the body of the slide lever, between the slide block and the spring block. A compression spring is installed, a compression spring is installed between the slide block and the spring block, and a second connection lever is rotated and connected to an end of the slide block close to the rotating block, and the two connection levers are connected to each other. The other end is rotated and connected through a rotating pin, and the end surface of the slide block is separated from the end surface of the spring block. The first electromagnet is fixedly connected, the second electromagnet is fixedly connected symmetrically to the left and right end walls of the spring groove, a driving block is installed on the right side of the rotating column, and the rotating groove is formed on the left end face of the driving block. Is installed, the front and rear end walls of the rotating groove communicate with the external space, the right end of the rotating column passes through the left end wall of the rotating groove and is in the rotating groove, and the second connecting column is fixed to the right end of the rotating column. The upper and lower ends of the second connection shaft penetrate the upper and lower ends of the rotating column respectively and are in the rotation groove, and the upper and lower ends of the second connection shaft are respectively connected to the upper and lower end walls of the rotation groove by rotation, A drive space is installed in the drive block, a rotation mechanism is installed in the drive space, and a drive electric machine fixedly connected to a lower end wall of the drive space is installed on the right side of the right drive shaft. A power transmission shaft is connected to the front end face by power, A transmission gear is connected to the upper end shaft of the transmission gear by a flat key, a T-shaped ring groove is provided on an upper end surface of the transmission gear, and an upper end of the T-shaped ring groove extends through an upper end wall of the T-shaped ring groove. The mold block is slid and connected, a third connection lever is fixedly connected to the upper end of the T-shaped block, a moving space is installed on the right end wall of the driving space, and the moving space communicates with the right end wall of the driving space. A moving groove is provided, a connection groove having a left end wall communicating with a driving space is provided at an upper end wall of the moving groove, and three moving blocks spirally connected to a transmission shaft are provided below the transmission gear. The lower two moving blocks are symmetrically distributed about a transmission shaft, an annular groove is provided on an outer end wall of the moving block, and an electromagnet mechanism is provided on a left side of a lower end wall of the annular groove. The third connection lever and the fourth connection lever The right end of the moving groove penetrates the left end wall of the connecting groove and is fixedly connected through a fifth connecting lever. A working groove communicating with the external space is installed on the right end wall of the moving space, and the moving mechanism is vertically moved in the moving space. The moving mechanism is symmetrically installed, and the left end of the moving mechanism penetrates the moving groove and is slid and connected to the symmetrically installed annular groove, and a blowing mechanism is installed on an upper end surface of the support column.

As a priority, the swing mechanism includes a swing axis, a left end of the swing axis rotates and is connected to a left end wall of the swing space, and a rotating plate is fixedly connected to a right end of the swing axis, and rotates in the turntable. A space is installed, a rotating electric machine is fixedly connected to a lower end wall of the rotating space, a rotating shaft is connected by power to an upper end surface of the rotating electric machine, and an upper end of the rotating shaft rotates and connects to an upper end wall of the rotating space. A rotation lever is fixedly connected to the shaft of the rotation shaft in a vertically symmetric manner, and a through hole communicating with a swing space is installed in a right end wall of the rotation space in a vertically symmetric manner, and a right end of the rotation lever is defined as a through hole. A first connecting lever is fixedly connected to the right end of the rotating lever, penetrating the ring groove and in the external space.

As a priority, the rotation mechanism includes a drive shaft, the drive shaft is installed symmetrically in the drive space, and upper and lower ends of the drive shaft rotate and connect with upper and lower end walls of the drive space, respectively. A roll is fixedly connected to the shaft body, a drive gear is fixedly connected to the upper end of the drive shaft, the two left and right drive gears are meshed and connected, and the upper left wall of the drive space is passed through the left roll. A rope fixedly connected to the front end face of the rotary column is installed, and a rope fixedly connected to the rear end face of the rotary column through the lower end wall of the driving space is installed on the right roll.

As a priority, the moving mechanism includes a sixth connecting lever, and a left end of the sixth connecting lever is slidably connected to an annular groove that penetrates the moving groove and is symmetrically installed, and is connected to a right end of the sixth connecting lever. A seventh connection lever is fixedly connected, a pinch lever is installed on the right side of the drive block, an eighth connection lever is fixedly connected to the left end of the pinch lever, and a pinch block is installed in the moving space, A turning groove is installed on an end face near the center of the moving space of the sandwiching block, an electromagnet mechanism is installed on a front end wall of the turning groove, and front and rear end walls of the turning groove are fixedly connected by turning levers, The end of the connection lever moving away from the center of the moving space penetrates the end wall proximate to the center of the moving space of the turning groove and rotates and is connected to the turning lever.The left end of the eighth connection lever passes through the working groove. The L-lever is installed symmetrically on the front and rear end faces of the sandwich block, the mobile electric machine is installed on the front end wall of the moving space, and the moving shaft is connected to the rear end face of the mobile electric machine by power. The rear end of the moving shaft penetrates the rear end wall of the moving space and is in the moving space, and the driven shaft rotates and is connected to the rear end wall of the moving space, and the front end of the driven shaft is located behind the moving shaft. L-grooves are respectively installed on end faces close to the center of the end moving space.

As a priority, the repulsion between the first and second electromagnets is much greater than the elasticity of the compression spring.

As a preference, two oppositely oriented threads are installed on the transmission shaft.

As a priority, the blower mechanism includes a blower, a blower block is fixedly connected to an upper end surface of the support column, a blower groove is installed on a right end surface of the blower block, and a blower is fixed to a left end wall of the blower groove. Connected.

  Advantageous effects of the present invention compared to the existing technology are: The present invention operates, when the rotating electric machine rotates, rotates along with the rotating shaft, and when the first electromagnet and the second electromagnet are energized at this time, the electromagnet Under the action of the repulsive force, the slide block is moved to the spring block. At this time, the compression spring is compressed, and the connection between the two second connection levers is compressed and enters the slide groove, where the rotation shaft is rotated. When the turning column moves left and right, the turning block moves left and right, the device connected to the turning block moves left and right, and if the first electromagnet and the second electromagnet are not energized, the turning column moves under the turning shaft. It rotates with the turning block, the device connected to the turning block turns, and the transmission of the first connection lever and the turning lever ensures that the turntable rotates and the center of the turning lever and the turning column are on the same plane, swing When the structure is working, the rotating lever rotates back and forth, and the roll is not operating, the rotating column and the device connected to it rotate back and forth, the driving electric machine rotates, and the electromagnet mechanism in the top moving block Is operated, the uppermost moving block moves upward, and the transmission gear and the driving gear engage and transmit under the action of the connection lever. At this time, the electromagnet mechanism in the uppermost moving block Stops operating, the two rolls move in opposite directions, pull the two ropes, rotate the drive block around the second connecting post, and the electromagnet mechanism of the lower two moving blocks operates. When the moving block strongly pinches or releases the target under the moving block, and the target is too large, the electromagnet mechanism in the moving mechanism stops operating and moves the moving mechanism to the upper and lower ends of the moving space, The L levers on the front and rear end surfaces of the only block enter the L groove, and the moving electric machine operates to rotate the moving angle with the pinching block to increase the angle between the two pinching levers, thereby pinching and moving the target. When the mechanism moves up and down, the electromagnet mechanism in the moving mechanism is in operation all the time, preventing the rotation of the pinch block, the device is simple in structure, convenient to operate, 360 degrees during operation To achieve the object rotation and multi-angle objects, and to interpose objects beyond a certain range under the mechanical transmission of the moving mechanism, thereby increasing the practicality of the device.

For ease of explanation, the present invention will be described in detail with reference to the following specific examples and attached drawings.

FIG. 1 is a top view of the entire cross section of a single-axis servo jib manipulator based on fog computing of the present invention. FIG. 2 is a left perspective view of the entire cross section of the entire moving space of the single-axis servo jib manipulator based on fog computing of the present invention. FIG. 3 is a schematic enlarged view of the upper surface of the entire cross section of the spring groove of the single-axis servo jib manipulator based on fog computing of the present invention. FIG. 4 is an enlarged schematic structural view of the entire cross section of the electromagnet mechanism of the single-axis servo jib manipulator based on fog computing of the present invention.

The technical solutions of the embodiments of the present invention will be clearly and clearly described with accompanying drawings in the embodiments of the present invention, and the described embodiments are only some of the embodiments of the present invention and not all the embodiments. It is. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this area without creative labor belong to the protection scope of the present invention.

Referring to FIGS. 1 to 4, an embodiment provided by the present invention is: a single-axis servo jib manipulator based on fog computing includes a support column 1, a swing space 2 is installed on the support column 1, and the swing space A ring groove 5 communicating with the external space is installed on the right end wall of 2, a swing mechanism 69 is installed in the swing space 2, a rotary block 10 is fixedly connected to the right end surface of the support column 1, and the rotation A turning space 12 in which the right end wall communicates with the external space is installed in the block 10, a turning electric machine 11 is fixedly connected to the left end wall of the turning space 12, and a turning shaft 13 is driven on the right end face of the turning electric machine 11. And a turning column 14 is connected to the right end of the turning shaft 13 by turning engagement.The right end of the turning column 14 penetrates the right end wall of the turning space 12 and is in the external space, and the upper and lower ends of the turning space 12 are connected. The slide groove 15 communicating with the external space is symmetrical with the wall The turning block 17 is fixedly connected to the right end of the turning column 14, a turning groove 19 is installed on the right end face of the turning block 17, and front and rear end walls of the turning groove 19 communicate with the external space, A first connection shaft 20 is installed in the turning groove 19, and upper and lower ends of the first connection shaft 20 are fixedly connected to upper and lower end walls of the turning groove 19, respectively, and rotate around the shaft of the first connection shaft 20. The column 21 is rotated and connected, the right end of the rotary column 21 penetrates the turning groove 19 and is in the external space, and a translation groove 23 is symmetrically installed on the upper and lower end surfaces of the right end of the rotary column 21, and the translation groove 23 is provided. An end wall remote from the center of the rotating column 21 communicates with the external space, a translation block 24 is slid and connected into the translation groove 23, and the right end of the swing mechanism 59 is at the center of the rotating column 21 of the translation groove 23. Is fixedly connected to the translation block 24 through an end wall remote from the The rotation lever 16 is vertically and symmetrically connected in a fixed manner, a spring groove 18 is provided on an end face of the rotation lever 16 close to the rotation block, and a spring block 40 is fixed to an end wall of the spring groove 18 remote from the rotation block 10. The slide lever 39 is symmetrically and fixedly connected to the left and right end surfaces of the spring block 40, and the end of the slide lever 39 which is distant from the spring block 40 is fixedly connected to the end wall of the spring groove 18, and A slide block 37 is slidably connected to the body of the lever 39, a compression spring 38 is installed between the slide block 37 and the spring block 40, and a second connection lever 33 is attached to an end of the slide block 37 close to the rotating block 10. Are rotated and connected, and the other ends of the two second connection levers 33 are rotated and connected through a rotation pin, and from the end face of the spring block 40 of the slide block 37. The first electromagnet 36 is fixedly connected to the separated end face, the second electromagnet 35 is fixedly connected to the left and right end walls of the spring groove 18 symmetrically, and the drive block 27 is installed on the right side of the rotating column 21, A rotation groove 25 is provided on a left end surface of the drive block 27, front and rear end walls of the rotation groove 25 communicate with an external space, and a right end of the rotation column 21 penetrates a left end wall of the rotation groove 25 and is formed in the rotation groove 25. The second connecting column 26 is fixedly connected to the right end of the rotating column 21, and the upper and lower ends of the second connecting shaft 26 respectively penetrate the upper and lower ends of the rotating column 21 and are in the rotating groove 25. The upper and lower ends of the connection shaft 26 are rotatably connected to the upper and lower end walls of the rotation groove 25, respectively, a driving space 31 is installed in the driving block 27, a rotation mechanism 28 is installed in the driving space 31, and A driving electric machine 49 fixedly connected to the lower end wall of the driving space 31 is provided on the right side of the shaft 32, A transmission shaft 43 is connected to the front end surface of the transmission shaft 49 by power, a transmission gear 41 is connected to an upper end shaft of the transmission shaft 43 by a flat key, and a T-shaped ring groove 42 is provided on an upper end surface of the transmission gear 41. In the T-shaped ring groove 42, a T-shaped block 44 whose upper end penetrates the upper end wall of the T-shaped ring groove 42 is slid and connected, and a third connection lever 46 is fixedly connected to the upper end of the T-shaped block 44. A moving space 51 is provided on a right end wall of the driving space 31, a moving groove 50 communicating with the moving space 51 is provided on a right end wall of the driving space 31, and a left end wall is provided on an upper end wall of the moving groove 50. A connection groove 45 communicating with 31 is provided, and three moving blocks 55 spirally connected to the transmission shaft 43 are provided below the transmission gear 41, and the two lower movement blocks 55 are connected to the transmission shaft. 43 are symmetrically distributed around the center, and an annular groove 53 is provided on the outer end wall of the moving block 55, An electromagnet mechanism 54 is installed on the left side of the lower end wall of the annular groove 53, and the right ends of the third connection lever 46 and the fourth connection lever 48 pass through the left end wall of the connection groove 45 and are fixed through the fifth connection lever 47. A working groove 52 is connected to the right end wall of the moving space 51 and communicates with the external space.A moving mechanism 34 is installed vertically symmetrically in the moving space 51, and a left end of the moving mechanism 34 is And is slidably connected to the annular groove 53 that is symmetrically provided, and a blower mechanism 74 is provided on the upper end surface of the support column 1.

Advantageously, the swing mechanism 69 includes the swing shaft 3, the left end of the swing shaft 3 is rotated and connected to the left end wall of the swing space 2, and the rotating plate 8 is fixedly connected to the right end of the swing shaft 3. A rotating space 9 is installed in the rotating disk 8, a rotating electric machine 7 is fixedly connected to a lower end wall of the rotating space 9, and a rotating shaft 4 is connected to an upper end surface of the rotating electric machine 7 by power, The upper end of the rotating shaft 4 is rotated and connected to the upper end wall of the rotating space 9, the rotating lever 6 is fixedly connected to the shaft of the rotating shaft 4 in a vertically symmetric manner, and the right end wall of the rotating space 9 communicates with the swing space. The right end of the rotary lever 6 penetrates the through hole 70 and the ring groove 5 and is in the external space, and the first connection lever 22 is fixedly connected to the right end of the rotary lever 6. When the rotary column 21 rotates, the rotary column 8 rotates with the rotating disk 8 and the rotary lever 6 rotates. And that the center of the rotating column 21 is on the same plane.

Advantageously, the rotation mechanism 28 includes a drive shaft 32, the drive shaft 32 is installed symmetrically in the drive space 31, and the upper and lower ends of the drive shaft 32 are respectively upper and lower end walls of the drive space 32. Rolled and connected, the roll 30 is fixedly connected to the shaft of the drive shaft 32, the drive gear 29 is fixedly connected to the upper end of the drive shaft 32, and the two drive gears 29 on the left and right are meshed and connected. The left roll 30 is provided with a rope that passes through the upper end wall of the driving space 31 and is fixedly connected to the front end face of the rotating column 21. The right roll 30 passes through the lower end wall of the driving space 31 and the rotating column 21. A rope that is fixedly connected to the rear end face is installed, and its operation rotates the drive block 27 while the roll 30 rotates.

Advantageously, said moving mechanism 34 comprises a sixth connecting lever 57, the left end of said sixth connecting lever 27 is slidably connected with an annular groove 53 which penetrates the moving groove 50 and is symmetrically installed, A seventh connection lever 56 is fixedly connected to the right end of the sixth connection lever 57, a pinch lever 61 is installed on the right side of the drive block 27, and an eighth connection lever 60 is fixedly connected to the left end of the pinch lever 61. A pinch block 59 is provided in the moving space 51, a turning groove 58 is provided on an end surface of the holding block 59 near the center of the moving space 51, and an electromagnet mechanism 54 is provided on a front end wall of the turning groove 58. The front and rear end walls of the turning groove 58 are fixedly connected by a turning lever 67, and the end of the seventh connecting lever 56 that is far from the center of the moving space 51 is the end that is close to the center of the moving space 51 of the turning groove 58. It penetrates through the wall and is connected to the turning lever 67 by rotation. The left end of the connecting lever 60 penetrates the working groove 52 and is fixedly connected to the sandwiching block 59. The L lever 62 is installed symmetrically on the front and rear end surfaces of the sandwiching block 59, and the moving electric machine 66 is mounted on the front end wall of the moving space 51. A moving shaft 65 is motively connected to a rear end surface of the moving electric machine 66, and a rear end of the moving shaft 65 penetrates a rear end wall of the moving space 51 and is located in the moving space 51. The driven shaft 63 is rotated and connected to the rear end wall, and L grooves 64 are respectively installed on the front end of the driven shaft 63 and the end face of the rear end of the moving shaft 62 close to the center of the moving space 51. It is ensured that the lever 61 can move up and down and can rotate around the upper and lower ends of the moving space 51.

Advantageously, the repulsion between the first electromagnet 36 and the second electromagnet 35 is much greater than the resilience of the compression spring 38, the effect of which is that when the first electromagnet 36 rejects the second electromagnet 35, the slide block Ensures that the 37 can move to the spring block 40 smoothly.

Advantageously, two oppositely oriented threads are provided on said transmission shaft 43, the action of which causes the upper two moving blocks to move in opposition or relative to the lower moving block.

Advantageously, the blower mechanism 74 includes a blower 72, a blower block 71 is fixedly connected to an upper end surface of the support column 1, and a blower groove 73 is provided on a right end surface of the blower block 71, and the blower groove is provided. A blower 72 is fixedly connected to the left end wall of 73, the action of which allows the air in the working space to flow and guarantees the comfort of the environment.

Specific usage method: The present invention operates, when the rotating electric machine 11 rotates, the rotating shaft 13 is rotated together with the rotating shaft 13. At this time, when the first electromagnet 36 and the second electromagnet 35 are energized, the electromagnet repulsion force is reduced. Under the action, the slide block 37 is moved to the spring block 40, at which time the compression spring 38 is compressed, and the connection between the two second connection levers 33 is compressed and enters the slide groove 15, and the rotating shaft Under 13, the turning column 14 moves left and right, the turning block 17 moves left and right, the device connected to the turning block 17 moves left and right, and the first electromagnet 36 and the second electromagnet 35 do not conduct, The turning column 14 rotates with the turning block 17 under the turning shaft 13, the device connected to the turning block 17 turns, and the rotation of the turntable 8 rotates by the transmission of the first connecting lever 22 and the turning lever 6. Ensures that the center of lever 6 and rotating column 21 are on the same plane The swing mechanism 69 works, the rotating lever 6 rotates back and forth, and when the roll 30 is not operating, the rotating column 21 and the device connected thereto rotate back and forth, and the driving electric machine 49 rotates, When the electromagnet mechanism 54 in the moving block 55 is operated, the uppermost moving block 55 moves upward to engage and transmit the transmission gear 41 and the drive gear 29 under the action of the connection lever. At the top, the electromagnet mechanism 54 in the moving block 55 stops operating, the two rolls 30 move in opposite directions, pull two ropes, and move the drive block 27 around the second connecting column 26. When the electromagnet mechanism 54 of the lower two moving blocks 55 is operated by rotating, the moving block 34 strongly clamps or releases the target under the moving block 55, and if the target is too large, the moving mechanism 34 The electromagnet mechanism 54 stops operating and the moving mechanism 34 The moving lever 50 is moved to the upper and lower ends of the moving space 50, whereby the L levers 62 on the front and rear end surfaces of the sandwiching block 59 enter the L groove 64, and the moving electric machine 66 operates to rotate the moving angle with the sandwiching block 59, and The angle between the pinch levers 61 is increased, thereby pinching the target, and when the moving mechanism 34 moves up and down, the electromagnet mechanism 54 in the moving mechanism 34 is always in operation, preventing the rotation of the pinch block 59. This device has a simple structure, is easy to operate, realizes rotation of 360 degrees and pinching an object at multiple angles during operation, and achieves a certain range under the mechanical transmission of the moving mechanism 34. Increase the practicality of the device by sandwiching objects beyond it.

For those skilled in the art, the present invention is not limited to the details of the exemplary embodiments described above, but may be embodied in other specific forms without departing from the significance or essential characteristics of the invention. Therefore, considering that this embodiment is by way of example and not of limitation, the scope of the present invention is limited to the appended claims, and all changes that fall into the meaning and scope of the equivalent important document of the claims are considered. Included in the present invention. Do not consider any attached markings in a rights request as limiting the rights request.

The present invention relates to the field of machining, and in particular, to a single axis manipulator .

At present, with the progress of society and the development of science and technology, mechanical means have been used instead of manual labor, in which manipulators are used instead of dangerous or difficult to operate manually. However, in the current stairs, most of the manipulators can perform only one-sided movement, and there is a large restriction on the range of motion, and the range of objects grasped by a certain manipulator is narrow, which is disadvantageous for the progress of work. is there.

Chinese Patent Application Publication No. 104070520

An object of the present invention is to provide a single-axis manipulator and solve the above technical problems.

To achieve the above object, the present invention provides the following technical plan: a single-axis manipulator includes a support column, a swing space is installed on the support column, and an external space is formed on a right end wall of the swing space. A ring groove is provided for communication, a swing mechanism is provided in the swing space, a rotating block is fixedly connected to the right end face of the support column, and a right end wall communicates with the external space in the rotating block. A space is installed, a turning electric machine is fixedly connected to a left end wall of the turning space, a turning shaft is motively connected to a right end face of the turning electric machine, and a turning column is connected to the right end of the turning shaft by rolling engagement connection, The right end of the turning column penetrates the right end wall of the turning space and is in the external space, and the upper and lower end walls of the turning space are symmetrically provided with slide grooves communicating with the external space, and a turning block is provided at the right end of the turning column. The turning block is provided on the right end face of the turning block, front and rear end walls of the turning groove communicate with an external space, a first connection shaft is installed in the turning groove, and the first connection is provided. Upper and lower ends of the shaft are fixedly connected to the upper and lower end walls of the turning groove, respectively, and a rotating column is connected to the shaft of the first connection shaft by rotation, and the right end of the rotating column penetrates the turning groove and enters the external space. A translation groove is provided symmetrically at the upper and lower end surfaces of the right end of the rotating column, and an end wall of the translation groove remote from the center of the rotating column communicates with the external space, and the translation block slides into the translation groove. Connected, the right end of the swing mechanism is fixedly connected to the translation block through an end wall remote from the center of the rotation column of the translation groove, and a rotation lever is fixedly connected to the left end face of the rotation block in a vertically symmetric manner. Close to the rotating block of the turning lever. A spring groove is provided on an end face, a spring block is fixedly connected to an end wall of the spring groove remote from the rotation block, and a slide lever is symmetrically fixedly connected to left and right end faces of the spring block. The end remote from the block is fixedly connected to the end wall of the spring groove, the slide block is slid and connected to the body of the slide lever, and a compression spring is installed between the slide block and the spring block, A compression spring is installed between the spring blocks, a second connection lever is rotated and connected to an end of the slide block close to the rotation block, and the other ends of the two second connection levers are rotated and connected through a rotation pin. A first electromagnet is fixedly connected to an end surface of the slide block remote from an end surface of the spring block; A second electromagnet is symmetrically fixed to the left and right end walls of the rotating column, a driving block is installed on the right side of the rotating column, a rotating groove is installed on a left end surface of the driving block, and front and rear end walls of the rotating groove are connected to the outside. The right end of the rotating column penetrates the left end wall of the rotating groove and is in the rotating groove, and a second connecting column is fixedly connected to the right end of the rotating column, and upper and lower ends of the second connecting column are connected to the space. The upper and lower ends of the second connecting column are respectively connected to upper and lower end walls of the rotating groove by rotating through the upper and lower ends of the rotating groove, and a driving space is provided in the driving block. A driving mechanism is fixedly connected to a lower end wall of the driving space on the right side of the driving shaft, and a transmission shaft is connected by power to a front end face of the driving motor, and the transmission shaft is The transmission gear is connected to the upper shaft of the A T-shaped ring groove is provided on an upper end surface of the transmission gear, and a T-shaped block whose upper end penetrates an upper end wall of the T-shaped ring groove is slidably connected to the T-shaped ring groove, and an upper end of the T-shaped block is formed. The third connection lever is fixedly connected, a moving space is provided on a right end wall of the driving space, a moving groove communicating with the moving space is provided on a right end wall of the driving space, and a left end is provided on an upper end wall of the moving groove. A connection groove is provided in which the wall communicates with the driving space, and three moving blocks which are spirally connected to the transmission shaft are provided below the transmission gear, and the two lower movement blocks are centered on the transmission shaft. Symmetrically distributed, an annular groove is installed on the outer end wall of the moving block, an electromagnet mechanism is installed on the left side of the lower end wall of the annular groove, and the right ends of the third connection lever and the fourth connection lever are Penetrate the left end wall of the connection groove and A working groove communicating with the external space is installed on the right end wall of the moving space, a moving mechanism is installed vertically symmetrically in the moving space, and a left end of the moving mechanism penetrates the moving groove. And is slidably connected to an annular groove provided symmetrically, and a blower mechanism is provided on an upper end surface of the support column.

As a priority, the swing mechanism includes a swing axis, a left end of the swing axis rotates and is connected to a left end wall of the swing space, a turntable is fixedly connected to a right end of the swing axis, and rotates in the turntable. A space is installed, a rotating electric machine is fixedly connected to a lower end wall of the rotating space, a rotating shaft is connected by power to an upper end surface of the rotating electric machine, and an upper end of the rotating shaft rotates and connects to an upper end wall of the rotating space. A rotation lever is fixedly connected to the shaft of the rotation shaft in a vertically symmetric manner, and a through hole communicating with a swing space is installed in a right end wall of the rotation space in a vertically symmetric manner, and a right end of the rotation lever is defined as a through hole. A first connection lever is fixedly connected to the right end of the rotating lever through the ring groove and in the external space.

As a priority, the rotation mechanism includes a drive shaft, the drive shaft is installed symmetrically in the drive space, and upper and lower ends of the drive shaft rotate and connect with upper and lower end walls of the drive space, respectively. A roll is fixedly connected to the shaft body, a drive gear is fixedly connected to the upper end of the drive shaft, the two left and right drive gears are meshed and connected, and the upper left wall of the drive space is passed through the left roll. A rope fixedly connected to the front end face of the rotary column is installed, and a rope fixedly connected to the rear end face of the rotary column through the lower end wall of the driving space is installed on the right roll.

As a priority, the moving mechanism includes a sixth connecting lever, and a left end of the sixth connecting lever is slidably connected to an annular groove that penetrates the moving groove and is symmetrically installed, and is connected to a right end of the sixth connecting lever. A seventh connection lever is fixedly connected, a pinch lever is installed on the right side of the drive block, an eighth connection lever is fixedly connected to the left end of the pinch lever, and a pinch block is installed in the moving space, A turning groove is installed on an end face near the center of the moving space of the sandwiching block, an electromagnet mechanism is installed on a front end wall of the turning groove, and front and rear end walls of the turning groove are fixedly connected by turning levers, The end of the connection lever moving away from the center of the moving space penetrates the end wall proximate to the center of the moving space of the turning groove and rotates and is connected to the turning lever.The left end of the eighth connection lever passes through the working groove. The L-lever is installed symmetrically on the front and rear end faces of the sandwich block, the mobile electric machine is installed on the front end wall of the moving space, and the moving shaft is connected to the rear end face of the mobile electric machine by power. The rear end of the moving shaft penetrates the rear end wall of the moving space and is in the moving space, and the driven shaft rotates and is connected to the rear end wall of the moving space, and the front end of the driven shaft is located behind the moving shaft. L-grooves are respectively installed on end faces close to the center of the end moving space.

As a priority, the repulsion between the first and second electromagnets is much greater than the elasticity of the compression spring.

As a preference, two oppositely oriented threads are installed on the transmission shaft.

As a priority, the blower mechanism includes a blower, a blower block is fixedly connected to an upper end surface of the support column, a blower groove is installed on a right end surface of the blower block, and a blower is fixed to a left end wall of the blower groove. Connected.

Advantageous effects of the present invention compared to the existing technology are: The present invention operates, when the rotating electric machine rotates, rotates along with the rotating shaft, and when the first electromagnet and the second electromagnet are energized at this time, the electromagnet Under the action of the repulsive force, the slide block is moved to the spring block. At this time, the compression spring is compressed, and the connection between the two second connection levers is compressed and enters the slide groove, where the rotation shaft is rotated. When the turning column moves left and right, the turning block moves left and right, the device connected to the turning block moves left and right, and if the first electromagnet and the second electromagnet are not energized, the turning column moves under the turning shaft. It rotates with the turning block, the device connected to the turning block turns, and the transmission of the first connection lever and the turning lever ensures that the turntable rotates and the center of the turning lever and the turning column are on the same plane, swing When the structure is working, the rotating lever rotates back and forth, and the roll is not operating, the rotating column and the device connected to it rotate back and forth, the driving electric machine rotates, and the electromagnet mechanism in the top moving block Is operated, the uppermost moving block moves upward, and the transmission gear and the driving gear engage and transmit under the action of the connection lever. At this time, the electromagnet mechanism in the uppermost moving block Stops operating, the two rolls move in opposite directions, pull the two ropes, rotate the drive block around the second connecting post, and the electromagnet mechanism of the lower two moving blocks operates. When the moving block strongly pinches or releases the target under the moving block, and the target is too large, the electromagnet mechanism in the moving mechanism stops operating and moves the moving mechanism to the upper and lower ends of the moving space, The L levers on the front and rear end surfaces of the only block enter the L groove, and the moving electric machine operates to rotate the moving angle with the pinching block to increase the angle between the two pinching levers, thereby pinching and moving the target. When the mechanism moves up and down, the electromagnet mechanism in the moving mechanism is in operation all the time, preventing the rotation of the pinch block, the device is simple in structure, convenient to operate, 360 degrees during operation To achieve the object rotation and multi-angle objects, and to interpose objects beyond a certain range under the mechanical transmission of the moving mechanism, thereby increasing the practicality of the device.

For ease of explanation, the present invention will be described in detail with reference to the following specific examples and attached drawings.

FIG. 1 is a top view of the entire cross section of the single-axis manipulator of the present invention. FIG. 2 is a left perspective view of the entire cross section of the entire moving space of the single-axis manipulator of the present invention. FIG. 3 is a schematic enlarged view of the upper surface of the entire cross section of the spring groove of the single-axis manipulator of the present invention. FIG. 4 is a schematic enlarged view of the upper surface of the entire cross section of the electromagnet mechanism of the single-axis manipulator of the present invention.

The technical solutions of the embodiments of the present invention will be clearly and clearly described with accompanying drawings in the embodiments of the present invention, and the described embodiments are only some of the embodiments of the present invention and not all the embodiments. It is. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this area without creative labor belong to the protection scope of the present invention.

Referring to FIGS. 1 to 4, an embodiment provided by the present invention is as follows: a single-axis manipulator includes a support column 1, a swing space 2 is installed on the support column 1, and an outside world is provided on a right end wall of the swing space 2. A ring groove 5 communicating with the space is installed, a swing mechanism 69 is installed in the swing space 2, a rotating block 10 is fixedly connected to the right end surface of the support column 1, and a right end is inserted in the rotating block 10. A turning space 12 whose wall communicates with the external space is installed, a turning electric machine 11 is fixedly connected to a left end wall of the turning space 12, and a turning shaft 13 is connected to a right end face of the turning electric machine 11 by power. A turning column 14 is rotatably engaged with the right end of the shaft 13, and the right end of the turning column 14 penetrates the right end wall of the turning space 12 and is in the external space, and communicates with the upper and lower end walls of the turning space 12 to the external space. Sliding groove 1 Are installed symmetrically, a turning block 17 is fixedly connected to the right end of the turning column 14, a turning groove 19 is installed on the right end face of the turning block 17, and front and rear end walls of the turning groove 19 communicate with the external space. A first connecting shaft 20 is installed in the turning groove 19, and upper and lower ends of the first connecting shaft 20 are fixedly connected to upper and lower end walls of the turning groove 19, respectively. The rotating column 21 is rotated and connected to the body, the right end of the rotating column 21 penetrates the turning groove 19 and is in the external space, and the translation groove 23 is symmetrically installed on the upper and lower end surfaces of the right end of the rotating column 21. An end wall of the translation groove 23 remote from the center of the rotary column 21 communicates with the external space, a translation block 24 is slid into and connected to the translation groove 23, and the right end of the swing mechanism 59 is a rotary column of the translation groove 23. End wall far from center of 21 The rotation block 16 is fixedly connected to the translation block 24 through the left end face of the rotation block 17, and the rotation lever 16 is fixedly connected vertically and symmetrically, and a spring groove 18 is provided on the end face of the rotation lever 16 which is close to the rotation block. A spring block 40 is fixedly connected to an end wall of the spring groove 18 remote from the rotary block 10, and a slide lever 39 is symmetrically fixed to left and right end surfaces of the spring block 40, and a spring block of the slide lever 39 is fixed. The end remote from 40 is fixedly connected to the end wall of the spring groove 18, the slide block 37 is slidably connected to the body of the slide lever 39, and a compression spring 38 is installed between the slide block 37 and the spring block 40. Then, a second connection lever 33 is rotated and connected to an end of the slide block 37 close to the rotation block 10, The other ends of the two second connection levers 33 are rotatably connected to each other through a rotation pin, and a first electromagnet 36 is fixedly connected to an end surface of the slide block 37 that is remote from the end surface of the spring block 40. A second electromagnet 35 is symmetrically and fixedly connected to the left and right end walls of the drive column 27, a drive block 27 is installed on the right side of the rotary column 21, and a rotary groove 25 is installed on the left end surface of the drive block 27. The right and left ends of the rotary column 21 penetrate the left end wall of the rotary groove 25 and are in the rotary groove 25, and the second connecting column 26 is fixedly connected to the right end of the rotary column 21. The upper and lower ends of the second connecting column 26 pass through the upper and lower ends of the rotating column 21 and are in the rotating groove 25, and the upper and lower ends of the second connecting column 26 rotate with the upper and lower end walls of the rotating groove 25, respectively. Connected Said driven space 31 is installed in the drive block 27, the rotated mechanism 28 is placed in the drive space 31, on the right side of the drive shaft 32 is driven electric 49 is connected to the fixed lower end wall of the drive space 31 installed A transmission shaft 43 is connected to the front end surface of the driving electric machine 49 by power, a transmission gear 41 is connected to an upper end shaft of the transmission shaft 43 by a flat key, and a T-shaped ring groove is formed on an upper end surface of the transmission gear 41. A T-shaped block 44 having an upper end penetrating through the upper end wall of the T-shaped ring groove 42 is slidably connected to the T-shaped ring groove 42, and a third connection lever 46 is connected to the upper end of the T-shaped groove 44. Is fixedly connected, a moving space 51 is provided on a right end wall of the driving space 31, a moving groove 50 communicating with the moving space 51 is provided on a right end wall of the driving space 31, and an upper end wall of the moving groove 50 is provided on the upper end wall of the moving groove 50. Left end wall A connection groove 45 communicating with the drive space 31 is provided, three moving blocks 55 spirally connected to the transmission shaft 43 are provided below the transmission gear 41, and the two lower movement blocks 55 are provided. The groove is distributed symmetrically about the transmission shaft 43, the annular groove 53 is installed on the outer end wall of the moving block 55, and the electromagnet mechanism 54 is installed on the left side of the lower end wall of the annular groove 53, and the third connection is established. The right ends of the lever 46 and the fourth connection lever 48 penetrate the left end wall of the connection groove 45 and are fixedly connected through the fifth connection lever 47, and a work groove 52 communicating with the external space is provided on the right end wall of the moving space 51. A moving mechanism 34 is vertically symmetrically installed in the moving space 51, and a left end of the moving mechanism 34 is slidably connected to an annular groove 53 which penetrates the moving groove 50 and is symmetrically installed. Top surface of pillar 1 Is provided with a blowing mechanism 74.

Advantageously, the includes the swing mechanism 69 swings shaft 3, the left end of the swing shaft 3 is connected to rotate with the left end wall of the swing space 2, turntable 8 is connected to the fixed to the right end of the swing shaft 3 A rotating space 9 is installed in the rotating disk 8, a rotating electric machine 7 is fixedly connected to a lower end wall of the rotating space 9, and a rotating shaft 4 is connected to an upper end surface of the rotating electric machine 7 by power; The upper end of the rotating shaft 4 is rotatably connected to the upper end wall of the rotating space 9, the rotating lever 6 is fixedly connected to the shaft of the rotating shaft 4 in a vertically symmetric manner, and the right end wall of the rotating space 9 communicates with the swing space. The right end of the rotating lever 6 penetrates the through hole 70 and the ring groove 5 and is in the external space, and the first connecting lever 22 is fixedly connected to the right end of the rotating lever 6. The effect is that the rotating column 21 rotates. Rotates at brought turntable 8, the center of the rotation lever 6 rotates column 21 to ensure that it is in the same plane.

Advantageously, the rotation mechanism 28 includes a drive shaft 32, the drive shaft 32 is installed symmetrically in the drive space 31, and upper and lower ends of the drive shaft 32 are respectively connected to upper and lower end walls of the drive space 32. The roll 30 is fixedly connected to the shaft of the drive shaft 32, the drive gear 29 is fixedly connected to the upper end of the drive shaft 32, and the left and right two drive gears 29 are meshed and connected. A rope fixedly connected to the left roll 30 through the upper end wall of the driving space 31 and fixedly connected to the front end face of the rotary column 21 is provided. A rope that is fixedly connected to the rear end face is installed, and its operation rotates the drive block 27 while the roll 30 rotates.

Advantageously, said moving mechanism 34 comprises a sixth connecting lever 57, the left end of said sixth connecting lever 27 is slidably connected to an annular groove 53 which penetrates the moving groove 50 and is symmetrically installed, A seventh connection lever 56 is fixedly connected to the right end of the sixth connection lever 57, a pinch lever 61 is installed on the right side of the drive block 27, and an eighth connection lever 60 is fixedly connected to the left end of the pinch lever 61. A pinch block 59 is provided in the moving space 51, a turning groove 58 is provided at an end surface of the holding block 59 near the center of the moving space 51, and an electromagnet mechanism 54 is provided at a front end wall of the turning groove 58. The front and rear end walls of the turning groove 58 are fixedly connected by a turning lever 67, and the end of the seventh connecting lever 56 far away from the center of the moving space 51 is defined by the moving space 51 of the turning groove 58. The left end of the eighth connection lever 60 penetrates the working groove 52 and is fixedly connected to the pinch block 59 through the end wall proximate to the heart. An L lever 62 is installed symmetrically on the end surface, a mobile electric machine 66 is installed on the front end wall of the moving space 51, a moving shaft 65 is connected to the rear end surface of the moving electric machine 66 by power, and a rear end of the moving shaft 65 is provided. Penetrates the rear end wall of the moving space 51 and is located in the moving space 51, and the driven shaft 63 rotates and is connected to the rear end wall of the moving space 51, and the front end of the driven shaft 63 and the rear end of the moving shaft 62 The L-grooves 64 are respectively provided on the end faces close to the center of the moving space 51, and the operation of the L-grooves 64 ensures that the pinching lever 61 can move up and down and can rotate around the upper and lower ends of the moving space 51.

Advantageously, the repulsive force between the first electromagnet 36 and the second electromagnet 35 is much greater than the resilience of the compression spring 38, the effect being that when the first electromagnet 36 rejects the second electromagnet 35 37 ensures smooth movement to the spring block 40.

Advantageously, two oppositely oriented threads are provided on the transmission shaft 43, the action of which causes the upper two moving blocks to move in opposition or relative to the lower moving block.

Advantageously, the blower mechanism 74 includes a blower 72, a blower block 71 is fixedly connected to an upper end surface of the support column 1, and a blower groove 73 is installed on a right end surface of the blower block 71, A blower 72 is fixedly connected to the left end wall of 73, the action of which allows the air in the working space to flow and assures environmental comfort.

Specific usage method: In the present invention, when the rotating electric machine 11 rotates during operation, the rotating shaft 13 is rotated along with the rotating shaft 13. At this time, when the first electromagnet 36 and the second electromagnet 35 are energized, the electromagnet repulsion force is reduced. Under the action, the slide block 37 is moved to the spring block 40, at which time the compression spring 38 is compressed and the connection of the two second connecting levers 33 is compressed into the slide groove 15 and the rotating shaft 13, the turning column 14 moves left and right, the turning block 17 moves left and right, the device connected to the turning block 17 moves left and right, and the first electromagnet 36 and the second electromagnet 35 do not conduct. The turning column 14 rotates along with the turning block 17 under the turning shaft 13, the device connected to the turning block 17 turns, and the rotation of the turntable 8 is performed by the transmission of the first connection lever 22 and the rotation lever 6. The center of the rotating lever 6 and the rotating column 21 is ensured to be in the same plane, the swing mechanism 69 operates, the rotating lever 6 rotates back and forth, and the rotating column 21 and the rotating column 21 when the roll 30 is not operated. When the connected device rotates back and forth, the driving electric machine 49 rotates, and the electromagnet mechanism 54 in the uppermost moving block 55 operates, the uppermost moving block 55 moves upward, and the connecting lever Under the action, the transmission gear 41 and the driving gear 29 are meshed and transmitted, and at this time, the electromagnet mechanism 54 in the moving block 55 at the top stops operating, and the two rolls 30 move in opposite directions. Then, the two ropes are pulled, the driving block 27 is rotated around the second connecting column 26, and when the electromagnet mechanism 54 of the two lower moving blocks 55 is operated, the moving block 34 is moved under the moving block 55. If the target is pinched or released strongly and the target is too large, the electromagnet mechanism 54 in the moving mechanism 34 stops operating and moves the moving mechanism 34 to both the upper and lower ends of the moving space 50, whereby the front and rear end faces of the pinch block 59 are moved. The L lever 62 enters the L groove 64, and the moving electric machine 66 operates to rotate the moving angle with the sandwiching block 59, thereby increasing the angle between the two sandwiching levers 61, thereby sandwiching and moving the target. When the mechanism 34 moves up and down, the electromagnet mechanism 54 in the moving mechanism 34 is in operation all the time, preventing the rotation of the pinch block 59, the device is simple in structure, convenient in operation, and has three It realizes rotation of over 160 degrees and pinching of objects at multiple angles, and pinches objects beyond a certain range under the mechanical transmission of the moving mechanism 34, thereby increasing the utility of the device.

For those skilled in the art, the present invention is not limited to the details of the exemplary embodiments described above, but may be embodied in other specific forms without departing from the significance or essential characteristics of the invention. Therefore, considering that this embodiment is by way of example and not of limitation, the scope of the present invention is limited to the appended claims, and all changes that fall into the meaning and scope of the equivalent important document of the claims are considered. Included in the present invention. All attached marks in the claim shall not be considered as limiting the claim.

Claims (1)

A single-axis servo jib manipulator based on fog computing includes a support column, a swing space is installed on the support column, a ring groove communicating with the external space is installed on a right end wall of the swing space, and a swing groove is provided in the swing space. A swing mechanism is installed, a rotating block is fixedly connected to the right end surface of the support column, a turning space in which the right end wall communicates with the external space is installed in the turning block, and a turning space is set on the left end wall of the turning space. An electric machine is fixedly connected, a turning shaft is power-connected to a right end face of the turning electric machine, a turning column is connected to the right end of the turning shaft by rolling engagement, and a right end of the turning column penetrates a right end wall of the turning space. A sliding groove communicating with the external space is symmetrically provided at upper and lower end walls of the turning space, and a turning block is fixedly connected to a right end of the turning column; A turning groove is provided on the right end face of the block, front and rear end walls of the turning groove communicate with the external space, and a first connection shaft is installed in the turning groove, and upper and lower ends of the first connection shaft are respectively turned. A rotating column is fixedly connected to upper and lower end walls of the groove, and a rotary column is rotatably connected to the shaft of the first connection shaft; a right end of the rotary column penetrates the turning groove and is in the external space; A translation groove is symmetrically installed on the upper and lower end surfaces, an end wall of the translation groove that is remote from the center of the rotating column communicates with the external space, and a translation block is slid and connected in the translation groove, and the swing mechanism has The right end is fixedly connected to the translation block through an end wall far away from the center of the rotation column of the translation groove, and a rotation lever is fixedly connected to the left end face of the rotation block in a vertically symmetric manner, and the rotation block of the rotation lever A spring groove is installed on the end face close to A spring block is fixedly connected to an end wall of the spring groove remote from the rotating block, a slide lever is fixedly connected to left and right end surfaces of the spring block in a symmetrical manner, and an end of the slide lever remote from the spring block is a spring. A slide block is slidably connected to the body of the slide lever, and a compression spring is installed between the slide block and a spring block. The second connection lever is rotated and connected, the other ends of the two second connection levers are rotated and connected through a rotation pin, and the first electromagnet is fixedly connected to an end surface of the slide block that is remote from the end surface of the spring block. A second electromagnet is symmetrically and fixedly connected to left and right end walls of the spring groove, and a drive block is installed on the right side of the rotating column. A rotation groove is provided on a left end surface of the drive block, front and rear end walls of the rotation groove communicate with an external space, and a right end of the rotation column passes through a left end wall of the rotation groove and is in the rotation groove. A second connecting column is fixedly connected to the right end of the rotating column, and upper and lower ends of the second connecting shaft penetrate upper and lower ends of the rotating column, respectively, and are in rotating grooves, and upper and lower ends of the second connecting shaft rotate respectively. A driving space is installed in the driving block, a rotation mechanism is installed in the driving space, and a lower end wall of the driving space is fixedly connected to the right side of the right driving shaft. A driving shaft is connected to the front end surface of the driving motor by a power, a transmission gear is connected to an upper shaft of the transmission shaft by a flat key, and a T-shaped ring groove is formed on an upper end surface of the transmission gear. Is installed, and the upper end is placed in the T-shaped ring groove. A T-shaped block penetrating the upper end wall of the mold ring groove is slid and connected, a third connection lever is fixedly connected to an upper end of the T-shaped block, and a moving space is provided on a right end wall of the driving space, A moving groove communicating with the moving space is provided on a right end wall of the space, a connecting groove having a left end wall communicating with the driving space is provided on an upper end wall of the moving groove, and a helical engagement with a transmission shaft is provided below the transmission gear. Three moving blocks to be connected are installed, the lower two moving blocks are symmetrically distributed about a transmission axis, and an annular groove is provided on an outer end wall of the moving block, and the annular groove is provided. An electromagnet mechanism is installed on the left side of the lower end wall, and the right ends of the third connection lever and the fourth connection lever pass through the left end wall of the connection groove and are fixedly connected through the fifth connection lever, and are connected to the right end wall of the moving space. A working groove communicating with the external space A moving mechanism is installed vertically symmetrically in the moving space, and a left end of the moving mechanism penetrates the moving groove and is slidably connected to an annular groove provided symmetrically, and an upper end face of the support column The swing mechanism includes a swing axis, a left end of the swing axis rotates and is connected to a left end wall of a swing space, a rotating plate is fixedly connected to a right end of the swing axis, A rotating space is installed in the rotating space, a rotating electric machine is fixedly connected to a lower end wall of the rotating space, a rotating shaft is connected to an upper end surface of the rotating electric machine by power, and an upper end of the rotating shaft is an upper end wall of the rotating space. A rotary lever is fixedly connected to the shaft body of the rotary shaft in a vertically symmetric manner, and a through hole communicating with a swing space is provided in a right end wall of the rotary space in a vertically symmetric manner, and a right end of the rotary lever is provided. Has through holes and rings A first connection lever is fixedly connected to the right end of the rotary lever, penetrates the groove and is in the external space, the rotary mechanism includes a drive shaft, and the drive shaft is installed symmetrically in the drive space; The upper and lower ends of the drive shaft are rotatably connected to the upper and lower end walls of the drive space, respectively, a roll is fixedly connected to the shaft of the drive shaft, a drive gear is fixedly connected to the upper end of the drive shaft, The two drive gears are meshed and connected to each other, and a rope fixedly connected to the front end face of the rotating column through the upper end wall of the drive space is installed on the left roll, and the lower end wall of the drive space is connected to the right roll. An annular groove through which a rope fixedly connected to the rear end face of the rotating column is installed, the moving mechanism includes a sixth connecting lever, and a left end of the sixth connecting lever penetrates the moving groove and is symmetrically installed. Slide and connect with the front A seventh connection lever is fixedly connected to the right end of the sixth connection lever, a pinch lever is installed on the right side of the drive block, and an eighth connection lever is fixedly connected to the left end of the pinch lever. A pinching block is installed, a turning groove is installed on an end face close to the center of the moving space of the pinching block, an electromagnet mechanism is installed on a front end wall of the turning groove, and front and rear end walls of the turning groove are turned by a turning lever. The seventh connection lever is fixedly connected, and an end of the seventh connection lever far from the center of the movement space penetrates an end wall close to the center of the movement space of the turning groove, and is rotated and connected to the turning lever. The left end penetrates the working groove and is fixedly connected to the sandwiching block, an L lever is symmetrically installed on the front and rear end faces of the sandwiching block, a mobile electric machine is installed on a front end wall of the moving space, and the mobile The moving shaft is connected to the rear end face by power, the rear end of the moving shaft penetrates the rear end wall of the moving space and is in the moving space, and the driven shaft rotates and is connected to the rear end wall of the moving space, L-grooves are respectively provided on end surfaces of the front end of the driven shaft and the rear end of the moving shaft which are close to the center of the moving space, and the repulsive force between the first electromagnet and the second electromagnet is much larger than the elasticity of the compression spring, Two screw threads of opposite directions are installed on the transmission shaft, the blower mechanism includes a blower, a blower block is fixedly connected to an upper end surface of the support column, and a blower groove is installed on a right end surface of the blower block. The blower is fixedly connected to the left end wall of the blow groove.

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